ORB-SLAM2源码分析（一）：mono_tum.cc

最新推荐文章于 2023-07-20 08:05:02 发布
最新推荐文章于 2023-07-20 08:05:02 发布
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分类专栏： ORB SLAM2 文章标签： 自动驾驶
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.youkuaiyun.com/weixin_51240747/article/details/117996723

先要找一个入口，以Example中的单目的mono_tum.cc为例，这个.cc相当于整个程序的main函数。

这部分代码主要做了四件事情：
（1）读取图片及时间戳信息
（2）创建SLAM系统
（3）进行SLAM
（4）停止SLAM

（1）读取图片及时间戳信息
通过LoadImages函数完成，该函数把图片的路径+图片名称（string）、时间戳信息（double）分别读入三个vector容器：striFile、vstrImageFilenames、vTimestamps。

（2）创建SLAM系统
使用ORB_SLAM2::System类的构造函数创建SLAM系统，初始化了系统的各个线程，准备好处理输入的帧。

（3）进行SLAM
使用cv::Mat来创建存储图像像素矩阵，使用cv::imread读取图片。
使用了ORB_SLAM2::System中的TrackMonocular函数，输入就是：图片、对应时间戳。

（4）停止SLAM
使用System类中的Shutdown函数停止所有线程。

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[ 78%] Linking CXX executable ../Examples/Monocular/mono_tum [ 80%] Linking CXX executable ../Examples/Monocular-Inertial/mono_inertial_euroc /usr/bin/ld: CMakeFiles/mono_tum_old.dir/Examples_old/Monocular/mono_tum.cc.o: in function `main': mono_tum.cc:(.text.startup+0x451): undefined reference to `cv::imread(std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::basic_binary_iprimitive<boost::archive::binary_iarchive, char, std::char_traits<char> >::load(std::string&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::Split(std::string const&, char)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::text_oarchive_impl<boost::archive::text_oarchive>::save(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::putText(cv::_InputOutputArray const&, std::string const&, cv::Point_<int>, int, double, cv::Scalar_<double>, int, int, bool)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::imshow(std::string const&, cv::_InputArray const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::getTextSize(std::string const&, int, double, int, int*)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileStorage::FileStorage(std::string const&, int, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::namedWindow(std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileNode::string() const' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileStorage::operator[](std::string const&) const' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::error(int, std::string const&, char const*, char const*, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::toString(cv::Mat const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::CreateWindowAndBind(std::string, int, int, pangolin::Params const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::write(cv::FileStorage&, std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::basic_binary_oprimitive<boost::archive::binary_oarchive, char, std::char_traits<char> >::save(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::fromString(cv::Mat&, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::CreatePanel(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::operator<<(cv::FileStorage&, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::write(cv::FileStorage&, std::string const&, double)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::text_iarchive_impl<boost::archive::text_iarchive>::load(std::string&)' collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/mono_tum_old.dir/build.make:132：../Examples_old/Monocular/mono_tum_old] 错误 1 make[1]: *** [CMakeFiles/Makefile2:201：CMakeFiles/mono_tum_old.dir/all] 错误 2 make[1]: *** 正在等待未完成的任务.... /usr/bin/ld: CMakeFiles/mono_tum.dir/Examples/Monocular/mono_tum.cc.o: in function `main': mono_tum.cc:(.text.startup+0x451): undefined reference to `cv::imread(std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::basic_binary_iprimitive<boost::archive::binary_iarchive, char, std::char_traits<char> >::load(std::string&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::Split(std::string const&, char)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::text_oarchive_impl<boost::archive::text_oarchive>::save(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::putText(cv::_InputOutputArray const&, std::string const&, cv::Point_<int>, int, double, cv::Scalar_<double>, int, int, bool)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::imshow(std::string const&, cv::_InputArray const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::getTextSize(std::string const&, int, double, int, int*)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileStorage::FileStorage(std::string const&, int, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::namedWindow(std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileNode::string() const' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileStorage::operator[](std::string const&) const' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::error(int, std::string const&, char const*, char const*, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::toString(cv::Mat const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::CreateWindowAndBind(std::string, int, int, pangolin::Params const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::write(cv::FileStorage&, std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::basic_binary_oprimitive<boost::archive::binary_oarchive, char, std::char_traits<char> >::save(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::fromString(cv::Mat&, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::CreatePanel(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::operator<<(cv::FileStorage&, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::write(cv::FileStorage&, std::string const&, double)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::text_iarchive_impl<boost::archive::text_iarchive>::load(std::string&)' collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/mono_tum.dir/build.make:132：../Examples/Monocular/mono_tum] 错误 1 make[1]: *** [CMakeFiles/Makefile2:174：CMakeFiles/mono_tum.dir/all] 错误 2 /usr/bin/ld: CMakeFiles/mono_inertial_euroc.dir/Examples/Monocular-Inertial/mono_inertial_euroc.cc.o: in function `main': mono_inertial_euroc.cc:(.text.startup+0xa8b): undefined reference to `cv::imread(std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::basic_binary_iprimitive<boost::archive::binary_iarchive, char, std::char_traits<char> >::load(std::string&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::Split(std::string const&, char)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::text_oarchive_impl<boost::archive::text_oarchive>::save(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::putText(cv::_InputOutputArray const&, std::string const&, cv::Point_<int>, int, double, cv::Scalar_<double>, int, int, bool)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::imshow(std::string const&, cv::_InputArray const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::getTextSize(std::string const&, int, double, int, int*)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileStorage::FileStorage(std::string const&, int, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::namedWindow(std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileNode::string() const' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileStorage::operator[](std::string const&) const' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::error(int, std::string const&, char const*, char const*, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::toString(cv::Mat const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::CreateWindowAndBind(std::string, int, int, pangolin::Params const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::write(cv::FileStorage&, std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::basic_binary_oprimitive<boost::archive::binary_oarchive, char, std::char_traits<char> >::save(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::fromString(cv::Mat&, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::CreatePanel(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::operator<<(cv::FileStorage&, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::write(cv::FileStorage&, std::string const&, double)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::text_iarchive_impl<boost::archive::text_iarchive>::load(std::string&)' collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/mono_inertial_euroc.dir/build.make:132：../Examples/Monocular-Inertial/mono_inertial_euroc] 错误 1 make[1]: *** [CMakeFiles/Makefile2:147：CMakeFiles/mono_inertial_euroc.dir/all] 错误 2 [ 81%] Linking CXX executable ../Examples_old/Monocular-Inertial/mono_inertial_tum_vi_old /usr/bin/ld: CMakeFiles/mono_inertial_tum_vi_old.dir/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc.o: in function `main': mono_inertial_tum_vi.cc:(.text.startup+0x890): undefined reference to `cv::imread(std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::basic_binary_iprimitive<boost::archive::binary_iarchive, char, std::char_traits<char> >::load(std::string&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::Split(std::string const&, char)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::text_oarchive_impl<boost::archive::text_oarchive>::save(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::putText(cv::_InputOutputArray const&, std::string const&, cv::Point_<int>, int, double, cv::Scalar_<double>, int, int, bool)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::imshow(std::string const&, cv::_InputArray const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::getTextSize(std::string const&, int, double, int, int*)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileStorage::FileStorage(std::string const&, int, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::namedWindow(std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileNode::string() const' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::FileStorage::operator[](std::string const&) const' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::error(int, std::string const&, char const*, char const*, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::toString(cv::Mat const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::CreateWindowAndBind(std::string, int, int, pangolin::Params const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::write(cv::FileStorage&, std::string const&, int)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::basic_binary_oprimitive<boost::archive::binary_oarchive, char, std::char_traits<char> >::save(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `DBoW2::FORB::fromString(cv::Mat&, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `pangolin::CreatePanel(std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::operator<<(cv::FileStorage&, std::string const&)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `cv::write(cv::FileStorage&, std::string const&, double)' /usr/bin/ld: ../lib/libORB_SLAM3.so: undefined reference to `boost::archive::text_iarchive_impl<boost::archive::text_iarchive>::load(std::string&)' collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/mono_inertial_tum_vi_old.dir/build.make:132：../Examples_old/Monocular-Inertial/mono_inertial_tum_vi_old] 错误 1 make[1]: *** [CMakeFiles/Makefile2:120：CMakeFiles/mono_inertial_tum_vi_old.dir/all] 错误 2 make: *** [Makefile:84：all] 错误 2
最新发布
06-14
解决`std::map`分配器问题（引用[4]）在ORB_SLAM2中有一个关于`std::map`分配器的典型问题，ORB_SLAM3可能也存在类似问题。修改方法如下：在`LoopClosing.h`（或类似文件）中，将`KeyFrameAndPose`的类型定义修改为...
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